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lixiao 2024-09-05 17:19:12 +08:00
parent e5eb8eb7b7
commit 7e69ada2d2
1 changed files with 37 additions and 9 deletions
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46
entry/src/main/ets/pages/Index.ets
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@ -87,6 +87,10 @@ struct Index {
async aboutToAppear() {
try {
await this.initWireControlUDP()
await this.initPlatformUDP()
await this.initAudioPlayer()
await this.initBackMachineUDP()
await getConfigFile().then(([fieldModel, carModel, line, lib, teachPoint, teachPointParams, basePoint]) => {
this.fieldModel = fieldModel
this.carModel = carModel
@ -102,7 +106,27 @@ struct Index {
await nativeLogCallback((message: string, _: number) => {
LogHelper.I("NativeSDK", "[Log Callback]: ", message)
})
await registerControlCallback(() => {
await registerControlCallback((fxp: number, move: number) => {
if (fxp > 0) {
this.outWireControl.rightWheel(fxp)
} else {
this.outWireControl.leftWheel(fxp)
}
switch (move) {
case -1000:
break;
case -1:
this.outWireControl.moveDown()
break;
case 0:
this.outWireControl.moveStop()
break;
case 1:
this.outWireControl.moveUp()
break;
default:
break;
}
LogHelper.I("NativeSDK", "[Control Callback]: ")
})
await registerSoundCallback(() => {
@ -110,11 +134,6 @@ struct Index {
})
await setImageSize(500, 300)
await setConfigFile(this.basePoint, this.fieldModel, this.teachPoint, this.teachPointParams, this.carModel, this.line, this.lib)
this.outWireControl = new OutWireControl()
await this.outWireControl.init("192.168.7.181", 30021)
await this.initPlatformUDP()
await this.initAudioPlayer()
await this.initBackMachineUDP()
} catch (err) {
promptAction.showToast({
message: JSON.stringify(err?.message || err),
@ -145,9 +164,9 @@ struct Index {
try {
await this.simulatorUdpClient.bindUdp()
// this.simulatorUdpClient.heart()
setInterval(() => {
this.simulatorUdpClient.uploadPosition(new GpsInfo(), new CarInfo())
}, 1000)
// setInterval(() => {
// this.simulatorUdpClient.uploadPosition(new GpsInfo(), new CarInfo())
// }, 1000)
this.simulatorUdpClient.onMessage(({type, data = [] }: MessageCallBackParams) => {
if (type === CommandType.Start) {
let path = this.paths.findIndex(item => {
@ -194,6 +213,12 @@ struct Index {
}
}
// 初始化车机控制UDP
async initWireControlUDP() {
this.outWireControl = new OutWireControl()
await this.outWireControl.init("192.168.7.181", 30021)
}
// 上方按钮点击
onConfirm() {
if (this.status === Status.Idle) {
@ -202,9 +227,12 @@ struct Index {
this.simulatorUdpClient?.sendPID26(CommandType.Start)
selectLineAndLib(this.paths[this.currentPath].properties.id, this.libraries[this.currentLibrary].properties.id)
this.status = Status.Running
this.outWireControl.apaStart()
} else {
this.simulatorUdpClient?.sendPID26(CommandType.Stop)
this.status = Status.Idle
this.outWireControl.moveStop()
this.outWireControl.apaStop()
}
}